Design of a triple singularity drive for mobile wheeled robots

This thesis encompasses the development of a mobile robotic platform using three singularity drive modules. The process begins with a review of other omnidirectional platforms, comparing and contrasting their strengths and weaknesses. It continues with a discussion of the mechanical and electrical design of a robot prototype, then into kinematic modeling of the system. Both the inverse and forward kinematics are derived and validated through a path following experiment using an open loop controller. For this experiment, the robot was given a 1 meter square path as the desired trajectory, and coded to follow this path at 1 m/s speed. With the open loop controller, the robot was able to track this desired trajectory with a maximum of 16% error in position. An analysis of the results was performed, including discussion on possible sources of error in the system, and areas for future work are explored.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2014

Author dc:creator

• Carothers, Jeffrey (Jeffrey W.)

Advisor dc:contributor.advisor

• Harry Asada.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/92666

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/92666